Control System for a Humanoid Robot

Date: 22 April 2011, 13:26

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In this thesis, the design and implementation of a control system for a humanoid robot is presented. The control system is implemented for a teen sized humanoid robot, named Archie. Project Archie started at the Institute of Handling Robots and Technology from Vienna University of Technology in the year 2004. The aim of this project is to construct a robot that can imitate human movements such as walking.
The control system is designed based on distributed computer architecture, which means that the entire control system consist of multiple individual motion control units which in turn control the joints (i.e., each joint has a motion controller) and communicate through a data network with the central controller. The central controller is designed on a system-on-chip, based on embedded systems.
In this system, an embedded processor and some peripheral hardware result a minimum system to execute a standard operating system (Real time Linux).
The joint controllers of the robot face different load properties based on the overall pose of the robot. Since the design of the motion controllers are based on the load specification, tuning the motion controller parameters is a necessary task. This task can be simplified by using a simulation of the robot. The simulation will anticipate the operation of the motion controllers in the real robot.
Finally, the control system of the real robot is tested and evaluated by the traversed trajectories and they are compared with the simulation of the robot. The trajectories of the real robot are taken using image processing from a video stream of the robot's movement. The evaluation is done by comparing the simulation errors and the error obtained from the data of the real robot on the same test.

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